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<div class="title">susan.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SUSAN_IMPL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SUSAN_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/susan.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/integral_image_normal.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">   47</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setNonMaxSupression</a> (<span class="keywordtype">bool</span> nonmax)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  nonmax_ = nonmax;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a29a5fbb90ce58d5fedde0c26bf40899b">   54</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a29a5fbb90ce58d5fedde0c26bf40899b">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setGeometricValidation</a> (<span class="keywordtype">bool</span> validate)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  geometric_validation_ = validate;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">   61</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setRadius</a> (<span class="keywordtype">float</span> radius)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{ </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  search_radius_ = radius; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setDistanceThreshold</a> (<span class="keywordtype">float</span> distance_threshold) </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  distance_threshold_ = distance_threshold; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af1498d1f71ae40d0e7c0a0059c1d9f02">   75</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af1498d1f71ae40d0e7c0a0059c1d9f02">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setAngularThreshold</a> (<span class="keywordtype">float</span> angular_threshold) </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;{ </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  angular_threshold_ = angular_threshold; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a27b0542ff9404c8eb472ed370e3f791f">   82</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a27b0542ff9404c8eb472ed370e3f791f">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setIntensityThreshold</a> (<span class="keywordtype">float</span> intensity_threshold) </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{ </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  intensity_threshold_ = intensity_threshold; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">   89</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{ </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  normals_ = normals;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46b6db38a18fea5d29bb9ae50cee12be">   96</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46b6db38a18fea5d29bb9ae50cee12be">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setSearchSurface</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud) </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{ </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  surface_ = cloud; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  normals_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a>);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#ad5319f6a2ea12d495fb90b8ad534260f">  104</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#ad5319f6a2ea12d495fb90b8ad534260f">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  threads_ = nr_threads;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">// template &lt;typename PointInT, typename PointOutT, typename NormalT, typename IntensityT&gt; void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">// pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::USAN (const PointInT&amp; nucleus,</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">//                                                                     const NormalT&amp; nucleus_normal,</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">//                                                                     const std::vector&lt;int&gt;&amp; neighbors, </span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">//                                                                     const float&amp; t,</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">//                                                                     float&amp; response,</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">//                                                                     Eigen::Vector3f&amp; centroid) const</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">//   float area = 0;</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">//   response = 0;</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">//   float x0 = nucleus.x;</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">//   float y0 = nucleus.y;</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">//   float z0 = nucleus.z;</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">//   //xx xy xz yy yz zz</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">//   std::vector&lt;float&gt; coefficients(6);</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">//   memset (&amp;coefficients[0], 0, sizeof (float) * 6);</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">//   for (std::vector&lt;int&gt;::const_iterator index = neighbors.begin(); index != neighbors.end(); ++index)</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">//   {</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">//     if (pcl_isfinite (normals_-&gt;points[*index].normal_x))</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">//     {</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="comment">//       Eigen::Vector3f diff = normals_-&gt;points[*index].getNormal3fMap () - nucleus_normal.getNormal3fMap ();</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">//       float c = diff.norm () / t;</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">//       c = -1 * pow (c, 6.0);</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">//       c = exp (c);</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">//       Eigen::Vector3f xyz = surface_-&gt;points[*index].getVector3fMap ();</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">//       centroid += c * xyz;</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">//       area += c;</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">//       coefficients[0] += c * (x0 - xyz.x) * (x0 - xyz.x);</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">//       coefficients[1] += c * (x0 - xyz.x) * (y0 - xyz.y);</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">//       coefficients[2] += c * (x0 - xyz.x) * (z0 - xyz.z);</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">//       coefficients[3] += c * (y0 - xyz.y) * (y0 - xyz.y);</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">//       coefficients[4] += c * (y0 - xyz.y) * (z0 - xyz.z);</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">//       coefficients[5] += c * (z0 - xyz.z) * (z0 - xyz.z);</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">//     }</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">//   }</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">//   if (area &gt; 0)</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">//   {</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">//     centroid /= area;</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">//     if (area &lt; geometric_threshold)</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment">//       response = geometric_threshold - area;</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">//     // Look for edge direction</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">//     // X direction</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">//     if ((coefficients[3]/coefficients[0]) &lt; 1 &amp;&amp; (coefficients[5]/coefficients[0]) &lt; 1)</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">//       direction = Eigen::Vector3f (1, 0, 0);</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">//     else</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">//     {</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment">//       // Y direction</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment">//       if ((coefficients[0]/coefficients[3]) &lt; 1 &amp;&amp; (coefficients[5]/coefficients[3]) &lt; 1)</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment">//         direction = Eigen::Vector3f (0, 1, 0);</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">//       else</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">//       {</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="comment">//         // Z direction</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="comment">//         if ((coefficients[0]/coefficients[5]) &lt; 1 &amp;&amp; (coefficients[3]/coefficients[5]) &lt; 1)</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">//           direction = Eigen::Vector3f (0, 1, 0);</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="comment">//         // Diagonal edge</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="comment">//         else </span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">//         {</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">//           //XY direction</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">//           if ((coefficients[2]/coeffcients[1]) &lt; 1 &amp;&amp; (coeffcients[4]/coeffcients[1]) &lt; 1)</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">//           {</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">//             if (coeffcients[1] &gt; 0)</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment">//               direction = Eigen::Vector3f (1,1,0);</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">//             else</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">//               direction = Eigen::Vector3f (-1,1,0);</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">//           }</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">//           else</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">//           {</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment">//             //XZ direction</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment">//             if ((coefficients[1]/coeffcients[2]) &gt; 1 &amp;&amp; (coeffcients[4]/coeffcients[2]) &lt; 1)</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment">//             {</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment">//               if (coeffcients[2] &gt; 0)</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="comment">//                 direction = Eigen::Vector3f (1,0,1);</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">//               else</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="comment">//                 direction = Eigen::Vector3f (-1,0,1);</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="comment">//             }</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">//             //YZ direction</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">//             else</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">//             {</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">//               if (coeffcients[4] &gt; 0)</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">//                 direction = Eigen::Vector3f (0,1,1);</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">//               else</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment">//                 direction = Eigen::Vector3f (0,-1,1);</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">//             }</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">//           }</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment">//         }</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">//       }</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="comment">//     }</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">//     // std::size_t max_index = std::distance (coefficients.begin (), max);</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">//     // switch (max_index)</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">//     // {</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">//     //   case 0 : direction = Eigen::Vector3f (1, 0, 0); break;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">//     //   case 1 : direction = Eigen::Vector3f (1, 1, 0); break;</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="comment">//     //   case 2 : direction = Eigen::Vector3f (1, 0, 1); break;</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">//     //   case 3 : direction = Eigen::Vector3f (0, 1, 0); break;</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment">//     //   case 4 : direction = Eigen::Vector3f (0, 1, 1); break;</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment">//     //   case 5 : direction = Eigen::Vector3f (0, 0, 1); break;</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="comment">//     // }</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment">//   }</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;{</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] init failed!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordflow">if</span> (normals_-&gt;empty ())</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    PointCloudNPtr normals (<span class="keyword">new</span> PointCloudN ());</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    normals-&gt;reserve (normals-&gt;size ());</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">if</span> (!surface_-&gt;isOrganized ())</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt;PointInT, NormalT&gt;</a> normal_estimation;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (surface_);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (search_radius_);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normals);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      IntegralImageNormalEstimation&lt;PointInT, NormalT&gt; normal_estimation;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      normal_estimation.setNormalEstimationMethod (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;::SIMPLE_3D_GRADIENT</a>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (surface_);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      normal_estimation.setNormalSmoothingSize (5.0);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      normal_estimation.compute (*normals);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    normals_ = normals;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keywordflow">if</span> (normals_-&gt;size () != surface_-&gt;size ())</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] normals given, but the number of normals does not match the number of input points!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a2e506876598d89cdc16a36810a2790a7">  255</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a2e506876598d89cdc16a36810a2790a7">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::isWithinNucleusCentroid</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; nucleus,</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                                                                                       <span class="keyword">const</span> Eigen::Vector3f&amp; centroid,</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                                                                                       <span class="keyword">const</span> Eigen::Vector3f&amp; nc,</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                                                                                       <span class="keyword">const</span> PointInT&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  Eigen::Vector3f pc = centroid - point.getVector3fMap ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  Eigen::Vector3f pn = nucleus - point.getVector3fMap ();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  Eigen::Vector3f pc_cross_nc = pc.cross (nc);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">return</span> ((pc_cross_nc.norm () &lt;= tolerance_) &amp;&amp; (pc.dot (nc) &gt;= 0) &amp;&amp; (pn.dot (nc) &lt;= 0));</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;}</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">// template &lt;typename PointInT, typename PointOutT, typename NormalT, typename IntensityT&gt; bool</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="comment">// pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::isValidQueryPoint3D (int point_index) const</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="comment">//   return (isFinite (surface_-&gt;points [point_index]) &amp;&amp; </span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="comment">//           isFinite (normals_-&gt;points [point_index]));</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="comment">// template &lt;typename PointInT, typename PointOutT, typename NormalT, typename IntensityT&gt; bool</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="comment">// pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::isValidQueryPoint2D (int point_index) const</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="comment">//   return (isFinite (surface_-&gt;points [point_index]));</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">// template &lt;typename PointInT, typename PointOutT, typename NormalT, typename IntensityT&gt; bool</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="comment">// pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::isWithinSusan2D (int nucleus, int neighbor) const</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="comment">//   return (fabs (intensity_ (surface_-&gt;points[nucleus]) - </span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="comment">//                 intensity_ (surface_-&gt;points[neighbor])) &lt;= intensity_threshold_);</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="comment">// template &lt;typename PointInT, typename PointOutT, typename NormalT, typename IntensityT&gt; bool</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="comment">// pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::isWithinSusan3D (int nucleus, int neighbor) const</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="comment">//   Eigen::Vector3f nucleus_normal = normals_-&gt;point[nucleus].getVector3fMap ();</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">//   return (1 - nucleus_normal.dot (normals_-&gt;points[*index].getNormalVector3fMap ()) &lt;= angular_threshold_);</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="comment">// template &lt;typename PointInT, typename PointOutT, typename NormalT, typename IntensityT&gt; bool</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="comment">// pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::isWithinSusanH (int nucleus, int neighbor) const</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="comment">//   Eigen::Vector3f nucleus_normal = normals_-&gt;point[nucleus].getVector3fMap ();</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="comment">//   return ((1 - nucleus_normal.dot (normals_-&gt;points[*index].getNormalVector3fMap ()) &lt;= angular_threshold_) || </span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="comment">//           (fabs (intensity_ (surface_-&gt;points[nucleus]) - intensity_ (surface_-&gt;points[neighbor])) &lt;= intensity_threshold_));</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT, <span class="keyword">typename</span> IntensityT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_u_s_a_n_keypoint.html#ac9a5feda68db24b5a369c83ee5180a82">  303</a></span>&#160;<a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#ac9a5feda68db24b5a369c83ee5180a82">pcl::SUSANKeypoint&lt;PointInT, PointOutT, NormalT, IntensityT&gt;::detectKeypoints</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;{</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  boost::shared_ptr&lt;pcl::PointCloud&lt;PointOutT&gt; &gt; response (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> ());</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  response-&gt;reserve (surface_-&gt;size ());</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="comment">// Check if the output has a &quot;label&quot; field</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  label_idx_ = pcl::getFieldIndex&lt;PointOutT&gt; (output, <span class="stringliteral">&quot;label&quot;</span>, out_fields_);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> input_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;size ());</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="comment">//#ifdef _OPENMP</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="comment">//#pragma omp parallel for shared (response) num_threads(threads_)</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="comment">//#endif</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> point_index = 0; point_index &lt; input_size; ++point_index)</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  {</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keyword">const</span> PointInT&amp; point_in = input_-&gt;points [point_index];</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a>&amp; normal_in = normals_-&gt;points [point_index];</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">if</span> (!isFinite (point_in) || !isFinite (normal_in))</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      Eigen::Vector3f nucleus = point_in.getVector3fMap ();</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      Eigen::Vector3f nucleus_normal = normals_-&gt;points [point_index].getNormalVector3fMap ();</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordtype">float</span> nucleus_intensity = intensity_ (point_in);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      std::vector&lt;float&gt; nn_dists;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      tree_-&gt;radiusSearch (point_in, search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keywordtype">float</span> area = 0;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      Eigen::Vector3f centroid = Eigen::Vector3f::Zero ();</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="comment">// Exclude nucleus from the usan</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      std::vector&lt;int&gt; usan; usan.reserve (nn_indices.size () - 1);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator index = nn_indices.begin(); index != nn_indices.end(); ++index)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keywordflow">if</span> ((*index != point_index) &amp;&amp; pcl_isfinite (normals_-&gt;points[*index].normal_x))</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          <span class="comment">// if the point fulfill condition</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;          <span class="keywordflow">if</span> ((fabs (nucleus_intensity - intensity_ (input_-&gt;points[*index])) &lt;= intensity_threshold_) ||</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;              (1 - nucleus_normal.dot (normals_-&gt;points[*index].getNormalVector3fMap ()) &lt;= angular_threshold_))</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          {</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            ++area;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;            centroid += input_-&gt;points[*index].getVector3fMap ();</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            usan.push_back (*index);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keywordtype">float</span> geometric_threshold = 0.5f * (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nn_indices.size () - 1));</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordflow">if</span> ((area &gt; 0) &amp;&amp; (area &lt; geometric_threshold))</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="comment">// if no geometric validation required add the point to the response</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordflow">if</span> (!geometric_validation_)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        {</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          PointOutT point_out;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          point_out.getVector3fMap () = point_in.getVector3fMap ();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;          <span class="comment">//point_out.intensity = geometric_threshold - area; </span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          intensity_out_.set (point_out, geometric_threshold - area);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          <span class="comment">// if a label field is found use it to save the index</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;          <span class="keywordflow">if</span> (label_idx_ != -1)</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <span class="comment">// save the index in the cloud</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            uint32_t label = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (point_index);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            memcpy (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;point_out) + out_fields_[label_idx_].offset,</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                    &amp;label, <span class="keyword">sizeof</span> (uint32_t));</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="comment">//#ifdef _OPENMP</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="comment">//#pragma omp critical</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment">//#endif</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          response-&gt;push_back (point_out);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          centroid /= area;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;          Eigen::Vector3f dist = nucleus - centroid;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          <span class="comment">// Check the distance &lt;= distance_threshold_</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          <span class="keywordflow">if</span> (dist.norm () &gt;= distance_threshold_)</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;            <span class="comment">// point is valid from distance point of view </span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            Eigen::Vector3f nc = centroid - nucleus;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;            <span class="comment">// Check the contiguity</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;            std::vector&lt;int&gt;::const_iterator usan_it = usan.begin ();</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;            <span class="keywordflow">for</span> (; usan_it != usan.end (); ++usan_it)</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;            {</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;              <span class="keywordflow">if</span> (!isWithinNucleusCentroid (nucleus, centroid, nc, input_-&gt;points[*usan_it]))</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;            <span class="comment">// All points within usan lies on the segment [nucleus centroid]</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;            <span class="keywordflow">if</span> (usan_it == usan.end ())</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;            {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;              PointOutT point_out;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;              point_out.getVector3fMap () = point_in.getVector3fMap ();</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;              <span class="comment">// point_out.intensity = geometric_threshold - area; </span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;              intensity_out_.set (point_out, geometric_threshold - area);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;              <span class="comment">// if a label field is found use it to save the index</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;              <span class="keywordflow">if</span> (label_idx_ != -1)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;              {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;                <span class="comment">// save the index in the cloud</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;                uint32_t label = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (point_index);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                memcpy (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;point_out) + out_fields_[label_idx_].offset,</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;                        &amp;label, <span class="keyword">sizeof</span> (uint32_t));</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;              }</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="comment">//#ifdef _OPENMP</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="comment">//#pragma omp critical</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="comment">//#endif</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;              response-&gt;push_back (point_out);              </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;            }</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    }  </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  response-&gt;height = 1;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  response-&gt;width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (response-&gt;size ());</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="keywordflow">if</span> (!nonmax_)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  {</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    output = *response;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; response-&gt;size (); ++i)</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      keypoints_indices_-&gt;indices.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (i);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="comment">// we don not change the denseness</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  }</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  {</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (response-&gt;points.size());</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="comment">//#ifdef _OPENMP</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="comment">//#pragma omp parallel for shared (output) num_threads(threads_)   </span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="comment">//#endif</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> idx = 0; idx &lt; static_cast&lt;int&gt; (response-&gt;points.size ()); ++idx)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      <span class="keyword">const</span> PointOutT&amp; point_in = response-&gt;points [idx];</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a>&amp; normal_in = normals_-&gt;points [idx];</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      <span class="comment">//const float intensity = response-&gt;points[idx].intensity;</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> intensity = intensity_out_ (response-&gt;points[idx]);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keywordflow">if</span> (!isFinite (point_in) || !isFinite (normal_in) || (intensity == 0))</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      std::vector&lt;float&gt; nn_dists;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      tree_-&gt;radiusSearch (idx, search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keywordtype">bool</span> is_minima = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator nn_it = nn_indices.begin(); nn_it != nn_indices.end(); ++nn_it)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="comment">//        if (intensity &gt; response-&gt;points[*nn_it].intensity)</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        <span class="keywordflow">if</span> (intensity &gt; intensity_out_ (response-&gt;points[*nn_it]))</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          is_minima = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        }</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      }</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keywordflow">if</span> (is_minima)</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="comment">//#ifdef _OPENMP</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="comment">//#pragma omp critical</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="comment">//#endif</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      {</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (response-&gt;points[idx]);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        keypoints_indices_-&gt;indices.push_back (idx);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      }</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    }</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size());</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;}</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SUSAN(T,U,N) template class PCL_EXPORTS pcl::SUSANKeypoint&lt;T,U,N&gt;;</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_HARRIS_KEYPOINT_3D_IMPL_H_</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a44829319486a2dc415a4e068dc55c577"><div class="ttname"><a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">pcl::Feature::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> feature.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac92dbbea9d923754b3d87d981a6bd131"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">pcl::NormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> normal_3d.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; NormalT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a></div><div class="ttdoc">SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation...</div><div class="ttdef"><b>Definition:</b> susan.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a27b0542ff9404c8eb472ed370e3f791f"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a27b0542ff9404c8eb472ed370e3f791f">pcl::SUSANKeypoint::setIntensityThreshold</a></div><div class="ttdeci">void setIntensityThreshold(float intensity_threshold)</div><div class="ttdoc">set the intensity_threshold value for detecting corners.</div><div class="ttdef"><b>Definition:</b> susan.hpp:82</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a29a5fbb90ce58d5fedde0c26bf40899b"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a29a5fbb90ce58d5fedde0c26bf40899b">pcl::SUSANKeypoint::setGeometricValidation</a></div><div class="ttdeci">void setGeometricValidation(bool validate)</div><div class="ttdoc">Filetr false positive using geometric criteria. The nucleus and the centroid should at least distance...</div><div class="ttdef"><b>Definition:</b> susan.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a2e506876598d89cdc16a36810a2790a7"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a2e506876598d89cdc16a36810a2790a7">pcl::SUSANKeypoint::isWithinNucleusCentroid</a></div><div class="ttdeci">bool isWithinNucleusCentroid(const Eigen::Vector3f &amp;nucleus, const Eigen::Vector3f &amp;centroid, const Eigen::Vector3f &amp;nc, const PointInT &amp;point) const</div><div class="ttdoc">return true if a point lies within the line between the nucleus and the centroid</div><div class="ttdef"><b>Definition:</b> susan.hpp:255</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a46113c414b9876ad17ce12285acfd98e"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">pcl::SUSANKeypoint::setRadius</a></div><div class="ttdeci">void setRadius(float radius)</div><div class="ttdoc">set the radius for normal estimation and non maxima supression.</div><div class="ttdef"><b>Definition:</b> susan.hpp:61</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a46b6db38a18fea5d29bb9ae50cee12be"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46b6db38a18fea5d29bb9ae50cee12be">pcl::SUSANKeypoint::setSearchSurface</a></div><div class="ttdeci">virtual void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset that we need to estimate features at every point for.</div><div class="ttdef"><b>Definition:</b> susan.hpp:96</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a59c1126fb24e12e248d688810fd7e218"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">pcl::SUSANKeypoint::setNonMaxSupression</a></div><div class="ttdeci">void setNonMaxSupression(bool nonmax)</div><div class="ttdoc">Apply non maxima suppression to the responses to keep strongest corners.</div><div class="ttdef"><b>Definition:</b> susan.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_ac9a5feda68db24b5a369c83ee5180a82"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#ac9a5feda68db24b5a369c83ee5180a82">pcl::SUSANKeypoint::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract key point detection method.</div><div class="ttdef"><b>Definition:</b> susan.hpp:303</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_ad5319f6a2ea12d495fb90b8ad534260f"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#ad5319f6a2ea12d495fb90b8ad534260f">pcl::SUSANKeypoint::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> susan.hpp:104</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_af1498d1f71ae40d0e7c0a0059c1d9f02"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#af1498d1f71ae40d0e7c0a0059c1d9f02">pcl::SUSANKeypoint::setAngularThreshold</a></div><div class="ttdeci">void setAngularThreshold(float angular_threshold)</div><div class="ttdoc">set the angular_threshold value for detecting corners. Normals are considered as parallel if 1 - angu...</div><div class="ttdef"><b>Definition:</b> susan.hpp:75</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_af267b2591d5c90eaa383dfc4e4bdd3fb"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">pcl::SUSANKeypoint::setNormals</a></div><div class="ttdeci">void setNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">set normals if precalculated normals are available.</div><div class="ttdef"><b>Definition:</b> susan.hpp:89</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
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